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<div class="title">Quadruped.h</div>  </div>
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<a href="../../d3/dc7/_quadruped_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef LIBBIOMIMETICS_QUADRUPED_H</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define LIBBIOMIMETICS_QUADRUPED_H</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../db/dbb/_actuator_model_8h.html">Dynamics/ActuatorModel.h</a>&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d5/d9a/_floating_base_model_8h.html">Dynamics/FloatingBaseModel.h</a>&quot;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d4/d7d/_spatial_inertia_8h.html">Dynamics/SpatialInertia.h</a>&quot;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/StdVector&gt;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="../../d7/dfa/namespacecheetah.html">   21</a></span>&#160;<span class="keyword">namespace </span><a class="code" href="../../d7/dfa/namespacecheetah.html">cheetah</a> {</div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="../../d7/dfa/namespacecheetah.html#a8e4d5f214fc5ed6d084bc0fccb251627">   22</a></span>&#160;constexpr <span class="keywordtype">size_t</span> <a class="code" href="../../d7/dfa/namespacecheetah.html#a8e4d5f214fc5ed6d084bc0fccb251627">num_act_joint</a> = 12;</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="../../d7/dfa/namespacecheetah.html#a5b5bb4b839356f55085fb37875cc14b1">   23</a></span>&#160;constexpr <span class="keywordtype">size_t</span> <a class="code" href="../../d7/dfa/namespacecheetah.html#a5b5bb4b839356f55085fb37875cc14b1">num_q</a> = 19;</div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="../../d7/dfa/namespacecheetah.html#a7fc05e6429caed9bf396c1de79f7efbf">   24</a></span>&#160;constexpr <span class="keywordtype">size_t</span> <a class="code" href="../../d7/dfa/namespacecheetah.html#a7fc05e6429caed9bf396c1de79f7efbf">dim_config</a> = 18;</div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="../../d7/dfa/namespacecheetah.html#add5dd7f0217057fabd6ecde30688abbf">   25</a></span>&#160;constexpr <span class="keywordtype">size_t</span> <a class="code" href="../../d7/dfa/namespacecheetah.html#add5dd7f0217057fabd6ecde30688abbf">num_leg</a> = 4;</div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="../../d7/dfa/namespacecheetah.html#a5483d02fe11877b1dea592d745d28ac9">   26</a></span>&#160;constexpr <span class="keywordtype">size_t</span> <a class="code" href="../../d7/dfa/namespacecheetah.html#a5483d02fe11877b1dea592d745d28ac9">num_leg_joint</a> = 3;</div><div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="../../d7/dfa/namespacecheetah.html#a1e82ce8257faedef94241fa79dd242d8">   27</a></span>&#160;constexpr <span class="keywordtype">float</span> <a class="code" href="../../d7/dfa/namespacecheetah.html#a1e82ce8257faedef94241fa79dd242d8">servo_rate</a> = 0.001;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;}  <span class="comment">// namespace cheetah</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="../../dc/d53/namespacelink_i_d.html">   30</a></span>&#160;<span class="keyword">namespace </span><a class="code" href="../../dc/d53/namespacelink_i_d.html">linkID</a> {</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="../../dc/d53/namespacelink_i_d.html#a8eb4095835e065326dcf1d5fe26d4b9d">   31</a></span>&#160;constexpr <span class="keywordtype">size_t</span> <a class="code" href="../../dc/d53/namespacelink_i_d.html#a8eb4095835e065326dcf1d5fe26d4b9d">FR</a> = 9;   <span class="comment">// Front Right Foot</span></div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="../../dc/d53/namespacelink_i_d.html#a63743a31843d83e8b99772323ad557f9">   32</a></span>&#160;constexpr <span class="keywordtype">size_t</span> <a class="code" href="../../dc/d53/namespacelink_i_d.html#a63743a31843d83e8b99772323ad557f9">FL</a> = 11;  <span class="comment">// Front Left Foot</span></div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="../../dc/d53/namespacelink_i_d.html#a47bf02fb1ddc7d79f862bfb0667c9ee8">   33</a></span>&#160;constexpr <span class="keywordtype">size_t</span> <a class="code" href="../../dc/d53/namespacelink_i_d.html#a47bf02fb1ddc7d79f862bfb0667c9ee8">HR</a> = 13;  <span class="comment">// Hind Right Foot</span></div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="../../dc/d53/namespacelink_i_d.html#a9ec44e37a55ff0c04f82281626613bb1">   34</a></span>&#160;constexpr <span class="keywordtype">size_t</span> <a class="code" href="../../dc/d53/namespacelink_i_d.html#a9ec44e37a55ff0c04f82281626613bb1">HL</a> = 15;  <span class="comment">// Hind Left Foot</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="../../dc/d53/namespacelink_i_d.html#a9fe3d0127d71419a83f3b592e445916c">   36</a></span>&#160;constexpr <span class="keywordtype">size_t</span> <a class="code" href="../../dc/d53/namespacelink_i_d.html#a9fe3d0127d71419a83f3b592e445916c">FR_abd</a> = 2;  <span class="comment">// Front Right Abduction</span></div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="../../dc/d53/namespacelink_i_d.html#af1caf5f2fcd86b328a8b143efd30198d">   37</a></span>&#160;constexpr <span class="keywordtype">size_t</span> <a class="code" href="../../dc/d53/namespacelink_i_d.html#af1caf5f2fcd86b328a8b143efd30198d">FL_abd</a> = 0;  <span class="comment">// Front Left Abduction</span></div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="../../dc/d53/namespacelink_i_d.html#ab7737d4eb5e5c0f261ebb82a6bd57ab1">   38</a></span>&#160;constexpr <span class="keywordtype">size_t</span> <a class="code" href="../../dc/d53/namespacelink_i_d.html#ab7737d4eb5e5c0f261ebb82a6bd57ab1">HR_abd</a> = 3;  <span class="comment">// Hind Right Abduction</span></div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="../../dc/d53/namespacelink_i_d.html#adc10b97ff6188ddcb914c6ff6cf82a3c">   39</a></span>&#160;constexpr <span class="keywordtype">size_t</span> <a class="code" href="../../dc/d53/namespacelink_i_d.html#adc10b97ff6188ddcb914c6ff6cf82a3c">HL_abd</a> = 1;  <span class="comment">// Hind Left Abduction</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;}  <span class="comment">// namespace linkID</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">using</span> std::vector;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="../../dc/d66/class_quadruped.html">   56</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../dc/d66/class_quadruped.html">Quadruped</a> {</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="../../dc/d66/class_quadruped.html#a3a8d2b5f9c50bf5ca8280e63b2775097">   59</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">RobotType</a> <a class="code" href="../../dc/d66/class_quadruped.html#a3a8d2b5f9c50bf5ca8280e63b2775097">_robotType</a>;</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="../../dc/d66/class_quadruped.html#a5bce20ce40e03068a0dd0a66a4ccf17e">   60</a></span>&#160;  T _bodyLength, <a class="code" href="../../dc/d66/class_quadruped.html#a5bce20ce40e03068a0dd0a66a4ccf17e">_bodyWidth</a>, _bodyHeight, _bodyMass;</div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="../../dc/d66/class_quadruped.html#aea326056e6c877eec1df1ef8564a1379">   61</a></span>&#160;  T _abadGearRatio, _hipGearRatio, <a class="code" href="../../dc/d66/class_quadruped.html#aea326056e6c877eec1df1ef8564a1379">_kneeGearRatio</a>;</div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="../../dc/d66/class_quadruped.html#a99a1bea4ba2a962cc53a951be52ba3b2">   62</a></span>&#160;  T _abadLinkLength, _hipLinkLength, _kneeLinkLength, <a class="code" href="../../dc/d66/class_quadruped.html#a99a1bea4ba2a962cc53a951be52ba3b2">_maxLegLength</a>;</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="../../dc/d66/class_quadruped.html#a005ccebaf2721238edf5ab30bdca5f64">   63</a></span>&#160;  T _motorKT, <a class="code" href="../../dc/d66/class_quadruped.html#a005ccebaf2721238edf5ab30bdca5f64">_motorR</a>, _batteryV;</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="../../dc/d66/class_quadruped.html#a20f4b1eda8c92ed4eff51ef71d3a8c24">   64</a></span>&#160;  T <a class="code" href="../../dc/d66/class_quadruped.html#a20f4b1eda8c92ed4eff51ef71d3a8c24">_motorTauMax</a>;</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="../../dc/d66/class_quadruped.html#a037c40af4c63dc79aba96e6cb1427f82">   65</a></span>&#160;  T _jointDamping, <a class="code" href="../../dc/d66/class_quadruped.html#a037c40af4c63dc79aba96e6cb1427f82">_jointDryFriction</a>;</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="../../dc/d66/class_quadruped.html#a88e20574ef5d30111c3d893147c981ee">   66</a></span>&#160;  <a class="code" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia&lt;T&gt;</a> _abadInertia, _hipInertia, _kneeInertia, _abadRotorInertia,</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      _hipRotorInertia, <a class="code" href="../../dc/d66/class_quadruped.html#a88e20574ef5d30111c3d893147c981ee">_kneeRotorInertia</a>, _bodyInertia;</div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="../../dc/d66/class_quadruped.html#aee1c0e15f1c1e19ad0c07762f2969485">   68</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> _abadLocation, _abadRotorLocation, _hipLocation, _hipRotorLocation,</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      _kneeLocation, <a class="code" href="../../dc/d66/class_quadruped.html#aee1c0e15f1c1e19ad0c07762f2969485">_kneeRotorLocation</a>;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel&lt;T&gt;</a> buildModel();</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordtype">bool</span> buildModel(<a class="code" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel&lt;T&gt;</a>&amp; model);</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  std::vector&lt;ActuatorModel&lt;T&gt;&gt; buildActuatorModels();</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="../../dc/d66/class_quadruped.html#a6e180d3c6ca3c3b5bb3121324441e2c4">   74</a></span>&#160;  <span class="keyword">static</span> T <a class="code" href="../../dc/d66/class_quadruped.html#a6e180d3c6ca3c3b5bb3121324441e2c4">getSideSign</a>(<span class="keywordtype">int</span> leg) {</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keyword">const</span> T sideSigns[4] = {-1, 1, -1, 1};</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    assert(leg &gt;= 0 &amp;&amp; leg &lt; 4);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">return</span> sideSigns[leg];</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  }</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="../../dc/d66/class_quadruped.html#a594bd8c71ee8f6c388501b4c463d26b2">   83</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../dc/d66/class_quadruped.html#a594bd8c71ee8f6c388501b4c463d26b2">getHipLocation</a>(<span class="keywordtype">int</span> leg) {</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    assert(leg &gt;= 0 &amp;&amp; leg &lt; 4);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> pHip((leg == 0 || leg == 1) ? _abadLocation(0) : -_abadLocation(0),</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                 (leg == 1 || leg == 3) ? _abadLocation(1) : -_abadLocation(1),</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                 _abadLocation(2));</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keywordflow">return</span> pHip;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  }</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;};</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> T2&gt;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../d3/dc7/_quadruped_8h.html#a8b8dc9f96094b6454c45ee2886cbfe5a">withLegSigns</a>(<span class="keyword">const</span> Eigen::MatrixBase&lt;T2&gt;&amp; v, <span class="keywordtype">int</span> legID);</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="preprocessor">#endif  // LIBBIOMIMETICS_QUADRUPED_H</span></div><div class="ttc" id="namespacecheetah_html"><div class="ttname"><a href="../../d7/dfa/namespacecheetah.html">cheetah</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00021">Quadruped.h:21</a></div></div>
<div class="ttc" id="namespacelink_i_d_html_adc10b97ff6188ddcb914c6ff6cf82a3c"><div class="ttname"><a href="../../dc/d53/namespacelink_i_d.html#adc10b97ff6188ddcb914c6ff6cf82a3c">linkID::HL_abd</a></div><div class="ttdeci">constexpr size_t HL_abd</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00039">Quadruped.h:39</a></div></div>
<div class="ttc" id="namespacelink_i_d_html_af1caf5f2fcd86b328a8b143efd30198d"><div class="ttname"><a href="../../dc/d53/namespacelink_i_d.html#af1caf5f2fcd86b328a8b143efd30198d">linkID::FL_abd</a></div><div class="ttdeci">constexpr size_t FL_abd</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00037">Quadruped.h:37</a></div></div>
<div class="ttc" id="namespacelink_i_d_html_a63743a31843d83e8b99772323ad557f9"><div class="ttname"><a href="../../dc/d53/namespacelink_i_d.html#a63743a31843d83e8b99772323ad557f9">linkID::FL</a></div><div class="ttdeci">constexpr size_t FL</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00032">Quadruped.h:32</a></div></div>
<div class="ttc" id="namespacecheetah_html_a5b5bb4b839356f55085fb37875cc14b1"><div class="ttname"><a href="../../d7/dfa/namespacecheetah.html#a5b5bb4b839356f55085fb37875cc14b1">cheetah::num_q</a></div><div class="ttdeci">constexpr size_t num_q</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00023">Quadruped.h:23</a></div></div>
<div class="ttc" id="class_quadruped_html"><div class="ttname"><a href="../../dc/d66/class_quadruped.html">Quadruped</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00056">Quadruped.h:56</a></div></div>
<div class="ttc" id="namespacelink_i_d_html"><div class="ttname"><a href="../../dc/d53/namespacelink_i_d.html">linkID</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00030">Quadruped.h:30</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="namespacecheetah_html_a8e4d5f214fc5ed6d084bc0fccb251627"><div class="ttname"><a href="../../d7/dfa/namespacecheetah.html#a8e4d5f214fc5ed6d084bc0fccb251627">cheetah::num_act_joint</a></div><div class="ttdeci">constexpr size_t num_act_joint</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00022">Quadruped.h:22</a></div></div>
<div class="ttc" id="namespacelink_i_d_html_a9fe3d0127d71419a83f3b592e445916c"><div class="ttname"><a href="../../dc/d53/namespacelink_i_d.html#a9fe3d0127d71419a83f3b592e445916c">linkID::FR_abd</a></div><div class="ttdeci">constexpr size_t FR_abd</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00036">Quadruped.h:36</a></div></div>
<div class="ttc" id="namespacecheetah_html_a5483d02fe11877b1dea592d745d28ac9"><div class="ttname"><a href="../../d7/dfa/namespacecheetah.html#a5483d02fe11877b1dea592d745d28ac9">cheetah::num_leg_joint</a></div><div class="ttdeci">constexpr size_t num_leg_joint</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00026">Quadruped.h:26</a></div></div>
<div class="ttc" id="class_quadruped_html_a594bd8c71ee8f6c388501b4c463d26b2"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a594bd8c71ee8f6c388501b4c463d26b2">Quadruped::getHipLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; getHipLocation(int leg)</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00083">Quadruped.h:83</a></div></div>
<div class="ttc" id="class_quadruped_html_a005ccebaf2721238edf5ab30bdca5f64"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a005ccebaf2721238edf5ab30bdca5f64">Quadruped::_motorR</a></div><div class="ttdeci">T _motorR</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00063">Quadruped.h:63</a></div></div>
<div class="ttc" id="namespacelink_i_d_html_a9ec44e37a55ff0c04f82281626613bb1"><div class="ttname"><a href="../../dc/d53/namespacelink_i_d.html#a9ec44e37a55ff0c04f82281626613bb1">linkID::HL</a></div><div class="ttdeci">constexpr size_t HL</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00034">Quadruped.h:34</a></div></div>
<div class="ttc" id="class_quadruped_html_a6e180d3c6ca3c3b5bb3121324441e2c4"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a6e180d3c6ca3c3b5bb3121324441e2c4">Quadruped::getSideSign</a></div><div class="ttdeci">static T getSideSign(int leg)</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00074">Quadruped.h:74</a></div></div>
<div class="ttc" id="class_spatial_inertia_html"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00025">SpatialInertia.h:25</a></div></div>
<div class="ttc" id="class_quadruped_html_aea326056e6c877eec1df1ef8564a1379"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#aea326056e6c877eec1df1ef8564a1379">Quadruped::_kneeGearRatio</a></div><div class="ttdeci">T _kneeGearRatio</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00061">Quadruped.h:61</a></div></div>
<div class="ttc" id="_spatial_inertia_8h_html"><div class="ttname"><a href="../../d4/d7d/_spatial_inertia_8h.html">SpatialInertia.h</a></div><div class="ttdoc">Class representing spatial inertia tensors. </div></div>
<div class="ttc" id="namespacelink_i_d_html_ab7737d4eb5e5c0f261ebb82a6bd57ab1"><div class="ttname"><a href="../../dc/d53/namespacelink_i_d.html#ab7737d4eb5e5c0f261ebb82a6bd57ab1">linkID::HR_abd</a></div><div class="ttdeci">constexpr size_t HR_abd</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00038">Quadruped.h:38</a></div></div>
<div class="ttc" id="_quadruped_8h_html_a8b8dc9f96094b6454c45ee2886cbfe5a"><div class="ttname"><a href="../../d3/dc7/_quadruped_8h.html#a8b8dc9f96094b6454c45ee2886cbfe5a">withLegSigns</a></div><div class="ttdeci">Vec3&lt; T &gt; withLegSigns(const Eigen::MatrixBase&lt; T2 &gt; &amp;v, int legID)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/dfc/_quadruped_8cpp_source.html#l00207">Quadruped.cpp:207</a></div></div>
<div class="ttc" id="class_quadruped_html_a5bce20ce40e03068a0dd0a66a4ccf17e"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a5bce20ce40e03068a0dd0a66a4ccf17e">Quadruped::_bodyWidth</a></div><div class="ttdeci">T _bodyWidth</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00060">Quadruped.h:60</a></div></div>
<div class="ttc" id="namespacecheetah_html_a1e82ce8257faedef94241fa79dd242d8"><div class="ttname"><a href="../../d7/dfa/namespacecheetah.html#a1e82ce8257faedef94241fa79dd242d8">cheetah::servo_rate</a></div><div class="ttdeci">constexpr float servo_rate</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00027">Quadruped.h:27</a></div></div>
<div class="ttc" id="class_quadruped_html_a3a8d2b5f9c50bf5ca8280e63b2775097"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a3a8d2b5f9c50bf5ca8280e63b2775097">Quadruped::_robotType</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW RobotType _robotType</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00059">Quadruped.h:59</a></div></div>
<div class="ttc" id="class_floating_base_model_html"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00069">FloatingBaseModel.h:69</a></div></div>
<div class="ttc" id="class_quadruped_html_aee1c0e15f1c1e19ad0c07762f2969485"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#aee1c0e15f1c1e19ad0c07762f2969485">Quadruped::_kneeRotorLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; _kneeRotorLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00068">Quadruped.h:68</a></div></div>
<div class="ttc" id="namespacelink_i_d_html_a47bf02fb1ddc7d79f862bfb0667c9ee8"><div class="ttname"><a href="../../dc/d53/namespacelink_i_d.html#a47bf02fb1ddc7d79f862bfb0667c9ee8">linkID::HR</a></div><div class="ttdeci">constexpr size_t HR</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00033">Quadruped.h:33</a></div></div>
<div class="ttc" id="namespacecheetah_html_add5dd7f0217057fabd6ecde30688abbf"><div class="ttname"><a href="../../d7/dfa/namespacecheetah.html#add5dd7f0217057fabd6ecde30688abbf">cheetah::num_leg</a></div><div class="ttdeci">constexpr size_t num_leg</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00025">Quadruped.h:25</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a78d284d08fd22d809fd436256f2cbc39"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">RobotType</a></div><div class="ttdeci">RobotType</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00120">cppTypes.h:120</a></div></div>
<div class="ttc" id="class_quadruped_html_a99a1bea4ba2a962cc53a951be52ba3b2"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a99a1bea4ba2a962cc53a951be52ba3b2">Quadruped::_maxLegLength</a></div><div class="ttdeci">T _maxLegLength</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00062">Quadruped.h:62</a></div></div>
<div class="ttc" id="class_quadruped_html_a037c40af4c63dc79aba96e6cb1427f82"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a037c40af4c63dc79aba96e6cb1427f82">Quadruped::_jointDryFriction</a></div><div class="ttdeci">T _jointDryFriction</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00065">Quadruped.h:65</a></div></div>
<div class="ttc" id="_actuator_model_8h_html"><div class="ttname"><a href="../../db/dbb/_actuator_model_8h.html">ActuatorModel.h</a></div><div class="ttdoc">Model of actuator Includes friction, max torque, and motor torque speed curve. </div></div>
<div class="ttc" id="class_quadruped_html_a88e20574ef5d30111c3d893147c981ee"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a88e20574ef5d30111c3d893147c981ee">Quadruped::_kneeRotorInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _kneeRotorInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
<div class="ttc" id="_floating_base_model_8h_html"><div class="ttname"><a href="../../d5/d9a/_floating_base_model_8h.html">FloatingBaseModel.h</a></div><div class="ttdoc">Implementation of Rigid Body Floating Base model data structure. </div></div>
<div class="ttc" id="namespacelink_i_d_html_a8eb4095835e065326dcf1d5fe26d4b9d"><div class="ttname"><a href="../../dc/d53/namespacelink_i_d.html#a8eb4095835e065326dcf1d5fe26d4b9d">linkID::FR</a></div><div class="ttdeci">constexpr size_t FR</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00031">Quadruped.h:31</a></div></div>
<div class="ttc" id="class_quadruped_html_a20f4b1eda8c92ed4eff51ef71d3a8c24"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a20f4b1eda8c92ed4eff51ef71d3a8c24">Quadruped::_motorTauMax</a></div><div class="ttdeci">T _motorTauMax</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00064">Quadruped.h:64</a></div></div>
<div class="ttc" id="namespacecheetah_html_a7fc05e6429caed9bf396c1de79f7efbf"><div class="ttname"><a href="../../d7/dfa/namespacecheetah.html#a7fc05e6429caed9bf396c1de79f7efbf">cheetah::dim_config</a></div><div class="ttdeci">constexpr size_t dim_config</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00024">Quadruped.h:24</a></div></div>
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